An active heave compensation dual-redundant control system

Abstract

The present invention discloses an active wave compensation dual-redundant control system, which belongs to the field of wave compensation technology. The control system includes a base and a fiber optic gyroscope. The base is provided with an adjustment component 1, an adjustment component 2, an adjustment component 3, and a control component. Through the mutual cooperation of the adjustment component 1, the adjustment component 2, the adjustment component 3, and the control component, real-time compensation for disturbances received by the trestle plate in the working state can be achieved. By setting a control loop 1 and a control loop 2, the hydraulic control module can be switched by inputting a switching control signal, thereby switching the control loop, thereby achieving an efficient and rapid control effect. By setting a cylindrical electromagnet, when switching the control loop, the components in the previous control loop can be disconnected from the drive shaft, thereby preventing the components in the previous control loop from affecting the continued operation of the drive shaft.

Description

Technical Field

[0001] The present invention relates to the technical field of heave compensation, and in particular to an active heave compensation dual-redundancy control system. Background Art

[0002] When operating at sea, maintenance vessels are affected by the complex marine environment, which seriously affects the operating efficiency and safety of the operating equipment. Therefore, the use of trestle equipment with wave compensation technology can effectively compensate for the disturbance error of the ship under the action of waves, and perform safe, efficient and stable operations in the fields of personnel transportation and transfer, wind power maintenance, etc. The trestle mechanism adopts a hydraulic drive mode, in which the hydraulic system has the characteristics of fast response, high power density, high rigidity and high precision. However, due to the precise structure and the harsh working environment at sea, faults are prone to occur during operation, resulting in low control efficiency of the control system and poor emergency response capabilities. To a certain extent, it restricts the wave compensation capability and the reliability of the motion process. Therefore, the present invention provides an active wave compensation dual redundant control system. Summary of the Invention

[0003] In response to the shortcomings of the existing technology, the present invention provides an active wave compensation dual-redundant control system, which overcomes the problems of low control efficiency and poor emergency response capabilities of the control system due to the precise structure and harsh offshore working environment, which restrict the wave compensation capability and the reliability of the movement process to a certain extent.

[0004] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: an active wave compensation dual-redundant control system, comprising a base and a fiber optic gyroscope, wherein an adjustment component 1, an adjustment component 2, an adjustment component 3, and a control component are provided on the base, wherein the adjustment component 1 comprises a positioning circular seat, a first cylinder 1, and a second cylinder 1, a transmission shaft 1 is fixedly mounted on the positioning circular seat, and a transmission unit 1 is provided between the transmission shaft 1 and the first cylinder 1 and the second cylinder 1, the adjustment component 2 comprises a first cylinder 2, a second cylinder 2, and a positioning swivel seat, a transmission shaft 2 is fixedly mounted at both ends of the positioning swivel seat, a transmission unit 2 is provided between the first cylinder 2 and the second cylinder 2 and the corresponding transmission shaft 2, the adjustment component 3 comprises a trestle plate, a first cylinder 3, and a second cylinder 3, a positioning circular plate is fixedly mounted on the trestle plate, a transmission shaft 3 is fixedly mounted on the positioning circular plate, and a transmission unit 3 is provided between the transmission shaft 3 and the first cylinder 3 and the second cylinder 3, and the control component comprises a controller 1 and a controller 2, and the controller 1 and the controller 2 are used to receive and output signals.

[0005] Furthermore, the fiber optic gyroscope is used to collect the roll, pitch, heave and heading information of the ship. A supporting ring plate is fixedly installed on the base, and the adjusting round seat is rotatably installed on the supporting ring plate.

[0006] Furthermore, the adjusting swivel seat is rotatably mounted on the adjusting circular seat, a supporting circular plate is fixedly mounted on the adjusting swivel seat, the adjusting circular plate is rotatably mounted on the supporting circular plate, the transmission shaft three is rotatably connected with the supporting circular plate and the adjusting swivel seat, and the axes of the adjusting circular plate, the supporting circular plate and the transmission shaft three are on the same straight line.

[0007] Furthermore, the first cylinder 1 and the second cylinder 1 are fixedly mounted on the base, the first cylinder 2 and the second cylinder 2 are fixedly mounted on the position adjustment round seat, and the first cylinder 3 and the second cylinder 3 are fixedly mounted on the position adjustment rotating seat.

[0008] Furthermore, transmission unit one, transmission unit two, and transmission unit three all include a positioning rotating plate, a positioning short shaft, a dividing plate, and a cylindrical electromagnet. The positioning rotating plate is fixedly connected to the corresponding positioning short shaft, the end of the dividing plate is in contact with the corresponding positioning short shaft, and the cylindrical electromagnet is fixedly installed on the inner side of the positioning short shaft. The cylindrical electromagnet is movably connected to the corresponding transmission shaft one, transmission shaft two, and transmission shaft three, respectively.

[0009] Furthermore, the transmission shaft one is in the same straight line with the corresponding first cylinder one, the positioning short shaft, the second cylinder one, and the axis of the cylindrical electromagnet; the transmission shaft two is in the same straight line with the corresponding positioning short shaft, the cylindrical electromagnet, the first cylinder two, and the axis of the second cylinder two; and the transmission shaft three is in the same straight line with the corresponding positioning short shaft, the cylindrical electromagnet, the first cylinder three, and the axis of the second cylinder three.

[0010] Furthermore, the dividing plate is in contact with the corresponding first cylinder 1, second cylinder 1, first cylinder 2, second cylinder 2, first cylinder 3, and second cylinder 3 respectively. Under the action of the positioning short shaft, the positioning rotating plate, and the dividing plate, the interiors of the first cylinder 1, second cylinder 1, first cylinder 2, second cylinder 2, first cylinder 3, and second cylinder 3 are divided into liquid inlet chambers and liquid outlet chambers.

[0011] Furthermore, the first cylinder 1, the second cylinder 1, the second cylinder 1, the first cylinder 2, the second cylinder 2, the first cylinder 3, and the second cylinder 3 are all fixedly provided with liquid outlet pipes and liquid inlet pipes, and the base, the positioning round seat, and the positioning rotating seat are all fixedly installed with two hydraulic pumps, and the hydraulic pumps are fixedly connected to the corresponding liquid inlet pipes.

[0012] Furthermore, the control component also includes a hydraulic control module 1 and a hydraulic control module 2. The hydraulic control module 1, the hydraulic control module 2, the controller 1 and the controller 2 are all fixedly mounted on the base. The controller 1 is used to transmit signals to the hydraulic control module 1, and the controller 2 is used to transmit signals to the hydraulic control module 2. The hydraulic control module 1 is used to control the hydraulic pumps and cylindrical electromagnets corresponding to the first cylinder 1, the first cylinder 2 and the first cylinder 3. The hydraulic control module 2 is used to control the hydraulic pumps and cylindrical electromagnets corresponding to the second cylinder 1, the second cylinder 2 and the second cylinder 3.

[0013] The beneficial effects of the present invention compared with the prior art are as follows: (1) The present invention can achieve real-time compensation for disturbances in the working state of the trestle plate by the mutual cooperation of the adjustment component 1, the adjustment component 2, the adjustment component 3, and the control component. (2) The present invention can realize the conversion of the hydraulic control module by inputting a switching control signal by setting the control loop 1 and the control loop 2, thereby switching the control loop and achieving an efficient and rapid control effect. (3) The present invention can achieve the disconnection of the components in the previous control loop from the transmission shaft when switching the control loop by setting the cylindrical electromagnet, thereby preventing the components in the previous control loop from affecting the continued operation of the transmission shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0015] Figure 2 It is a front view of the overall structure of the present invention.

[0016] Figure 3 It is a top view of the overall structure of the present invention.

[0017] Figure 4 This is a schematic structural diagram of the adjustment component 1 of the present invention.

[0018] Figure 5 This is a schematic diagram of the structure of the short axis adjustment of this engine.

[0019] Figure 6 It is a structural schematic diagram of the dividing plate of the present invention.

[0020] Figure 7 This is a schematic structural diagram of the regulating component 2 of the present invention.

[0021] Figure 8 This is a schematic structural diagram of the regulating component three of the present invention.

[0022] Reference numerals: 101 - base; 102 - support ring plate; 103 - adjustment round seat; 104 - hydraulic control module 1; 105 - fiber optic gyroscope; 106 - first cylinder 1; 107 - trestle plate; 108 - guardrail; 109 - transmission shaft 1; 110 - liquid outlet pipe; 111 - hydraulic pump; 112 - liquid inlet pipe; 113 - adjustment rotating plate; 114 - adjustment short shaft; 115 - second cylinder 1; 116 - partition plate ;117-cylindrical electromagnet;118-liquid inlet chamber;119-liquid outlet chamber;120-positioning circular plate;121-supporting circular plate;122-first cylinder two;123-second cylinder two;124-positioning swivel seat;125-first cylinder three;126-second cylinder three;127-transmission shaft two;128-transmission shaft three;129-hydraulic control module two;130-controller one;131-controller two. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present invention.

[0024] Example: Reference Figures 1-8 An active wave compensation dual-redundant control system includes a base 101 and a fiber optic gyroscope 105. The fiber optic gyroscope 105 is installed inside the ship and is used to collect the ship's roll, pitch, heave and heading information. The base 101 is provided with an adjustment component 1, an adjustment component 2, an adjustment component 3 and a control component.

[0025] The adjustment component 1 includes a positioning circular seat 103, a first cylinder 106, and a second cylinder 115. The first cylinder 106 and the second cylinder 115 are both fixedly mounted on the base 101. The base 101 is fixedly mounted with a support ring plate 102. The positioning circular seat 103 is rotatably mounted on the support ring plate 102. A transmission shaft 109 is fixedly mounted on the positioning circular seat 103. A transmission unit 1 is provided between the transmission shaft 109 and the first cylinder 106 and the second cylinder 115.

[0026] Adjustment component two includes a first cylinder two 122, a second cylinder two 123, and a positioning swivel seat 124. The first cylinder two 122 and the second cylinder two 123 are fixedly mounted on the positioning round seat 103. The positioning swivel seat 124 is rotatably mounted on the positioning round seat 103. Transmission shaft two 127 is fixedly mounted on both ends of the positioning swivel seat 124. A transmission unit two is arranged between the first cylinder two 122, the second cylinder two 123 and the corresponding transmission shaft two 127.

[0027] The adjustment component three includes a trestle plate 107, a first cylinder three 125, and a second cylinder three 126. The first cylinder three 125 and the second cylinder three 126 are both fixedly mounted on the positioning swivel 124. The trestle plate 107 is fixedly mounted with an adjusting circular plate 120. The trestle plate 107 is also symmetrically fixed with a guardrail 108. The adjusting circular plate 120 is fixedly mounted with a transmission shaft three 128. The positioning swivel 124 is fixedly mounted with a supporting circular plate 121. The adjusting circular plate 120 is rotatably mounted on the supporting circular plate 121. The transmission shaft three 128 is rotatably connected to the supporting circular plate 121 and the positioning swivel 124. The axes of the adjusting circular plate 120, the supporting circular plate 121, and the transmission shaft three 128 are on the same straight line. A transmission unit three is provided between the transmission shaft three 128 and the first cylinder three 125 and the second cylinder three 126.

[0028] Transmission unit 1, transmission unit 2, and transmission unit 3 all include a positioning rotary plate 113, a positioning short shaft 114, a dividing plate 116, and a cylindrical electromagnet 117. The positioning rotary plate 113 is fixedly connected to the corresponding positioning short shaft 114, the end of the dividing plate 116 is in contact with the corresponding positioning short shaft 114, and the cylindrical electromagnet 117 is fixedly installed on the inner side of the positioning short shaft 114. The cylindrical electromagnet 117 is movably connected to the corresponding transmission shaft 1 109, transmission shaft 2 127, and transmission shaft 3 128, respectively.

[0029] The transmission shaft 109 is in the same straight line with the corresponding axes of the first cylinder 106, the positioning short shaft 114, the second cylinder 115, and the cylindrical electromagnet 117; the transmission shaft 2 127 is in the same straight line with the corresponding axes of the positioning short shaft 114, the cylindrical electromagnet 117, the first cylinder 2 122, and the second cylinder 2 123; and the transmission shaft 3 128 is in the same straight line with the corresponding axes of the positioning short shaft 114, the cylindrical electromagnet 117, the first cylinder 3 125, and the second cylinder 3 126.

[0030] The dividing plate 116 is in contact with the corresponding first cylinder 106, second cylinder 115, first cylinder 2 122, second cylinder 2 123, first cylinder 3 125, and second cylinder 3 126 respectively. Under the action of the positioning short shaft 114, the positioning rotating plate 113, and the dividing plate 116, the interiors of the first cylinder 106, second cylinder 115, first cylinder 2 122, second cylinder 2 123, first cylinder 3 125, and second cylinder 3 126 are divided into a liquid inlet chamber 118 and a liquid outlet chamber 119.

[0031] A liquid outlet pipe 110 and a liquid inlet pipe 112 are fixedly provided on the first cylinder 106, the second cylinder 115, the second cylinder 115, the first cylinder 2 122, the second cylinder 2 123, the first cylinder 3 125, and the second cylinder 3 126. Two hydraulic pumps 111 are fixedly installed on the base 101, the positioning round seat 103, and the positioning rotating seat 124. The hydraulic pumps 111 are fixedly connected to the corresponding liquid inlet pipes 112. The liquid outlet pipe 110 and the liquid inlet pipe 112 are respectively communicated with the corresponding liquid inlet chamber 118 and the liquid outlet chamber 119. The liquid outlet pipe 110 and the liquid inlet pipe 112 are both communicated with the oil storage tank on the ship.

[0032] The hydraulic pump 111 controls the hydraulic oil to flow into the liquid outlet chamber 119 along the liquid inlet pipe 112. Even if the volume of the liquid outlet chamber 119 increases, the volume of the liquid inlet chamber 118 corresponding to the liquid outlet chamber 119 decreases. Under the action of the hydraulic oil, the adjusting plate 113 rotates relative to the axis of the adjusting short shaft 114, and the adjusting short shaft 114 corresponding to the adjusting plate 113 rotates synchronously. The cylindrical electromagnet 117 on the adjusting short shaft 114 rotates synchronously, and the cylindrical electromagnet 117 is controlled to adsorb the corresponding transmission shaft 109, that is, the transmission shaft 109 rotates synchronously.

[0033] The control component includes controller one 130 and controller two 131, which are used to receive and output signals. The control component also includes hydraulic control module one 104 and hydraulic control module two 129. Hydraulic control module one 104, hydraulic control module two 129, controller one 130, and controller two 131 are all fixedly installed on the base 101. Controller one 130 is used to transmit signals to hydraulic control module one 104, and controller two 131 is used to transmit signals to hydraulic control module two 129. Hydraulic control module one 104 is used to control the hydraulic pump 111 and cylindrical electromagnet 117 corresponding to the first cylinder one 106, the first cylinder two 122, and the first cylinder three 125. The hydraulic control module two 129 is used to control the hydraulic pump 111 and cylindrical electromagnet 117 corresponding to the second cylinder one 115, the second cylinder two 123, and the second cylinder three 126.

[0034] Controller one 130 and hydraulic control module one 104 form control circuit one, controller two 131 and hydraulic control module two 129 form control circuit two, control circuit one and control circuit two are backup circuits for each other, control circuit one is the main control circuit, after the communication between controller one 130 and hydraulic control module one 104 fails, communication is established between controller two 131 and hydraulic control module two 129, when there is no fault signal in control circuit one and control circuit two, control circuit one realizes the control of trestle plate 107.

[0035] Working principle: After the fiber optic gyroscope 105 collects the roll, pitch, heave and heading information of the ship, it is transmitted to the controller 130, and the controller 130 then transmits it to the hydraulic control module 104. Under the action of the hydraulic control module 104, the hydraulic pump 111 and the cylindrical electromagnet 117 corresponding to the fiber optic gyroscope 105, the first cylinder 2 122, and the first cylinder 3 125 are controlled. The cylindrical electromagnets 117 corresponding to the fiber optic gyroscope 105, the first cylinder 2 122, and the first cylinder 3 125 are respectively adsorbed and fixed to the corresponding transmission shaft 1 109, transmission shaft 2 127, and transmission shaft 3 128. At this time, the cylindrical electromagnets 117 corresponding to the second cylinder 115, the second cylinder 2 123, and the second cylinder 3 126 are not adsorbed and fixed to the corresponding transmission shaft 109, transmission shaft 2 127, and transmission shaft 3 128.

[0036] Under the action of the hydraulic pumps 111 corresponding to the fiber optic gyroscope 105, the first cylinder 2 122, and the first cylinder 3 125, the hydraulic oil enters the liquid outlet chamber 119 of the fiber optic gyroscope 105, the first cylinder 2 122, and the first cylinder 3 125 through the liquid inlet pipe 112. At this time, the hydraulic oil in the liquid inlet chamber 118 returns to the oil storage tank along the liquid outlet pipe 110. At this time, the adjustment plate 113 and the adjustment short shaft 114 rotate relative to the fiber optic gyroscope 105, the first cylinder 2 122, and the first cylinder 3 125. Under the action of the cylindrical electromagnet 117, the transmission shaft 109 rotates relative to the base 1 01 rotates, the transmission shaft 2 127 rotates relative to the positioning circular seat 103, the transmission shaft 3 128 rotates relative to the positioning swivel seat 124, under the action of the transmission shaft 109, the positioning circular seat 103 rotates relative to the supporting ring plate 102, under the action of the transmission shaft 2 127, the positioning swivel seat 124 rotates relative to the positioning circular seat 103, under the action of the transmission shaft 3 128, the trestle plate 107 and the positioning circular plate 120 rotate relative to the supporting circular plate 121 and the positioning swivel seat 124, that is, the rapid adjustment of the position of the trestle plate 107 is realized, so that the trestle plate 107 actively performs wave compensation.

[0037] When a fault occurs in the control circuit 1, that is, when a fault occurs between the hydraulic control module 104, the controller 130, and the hydraulic pumps 111 corresponding to the first cylinder 106, the first cylinder 2 122, and the first cylinder 3 125 and a signal cannot be transmitted, the control circuit 2 is started, so that the hydraulic control module 2 129 and the controller 2 131 control the hydraulic pumps 111 corresponding to the second cylinder 115, the second cylinder 2 123, and the second cylinder 3 126. At this time, the cylindrical electromagnets 117 corresponding to the first cylinder 106, the first cylinder 2 122, and the first cylinder 3 125 are separated from the adsorption of the corresponding transmission shaft 109, the transmission shaft 2 127, and the transmission shaft 3 128, and the cylindrical electromagnets 117 corresponding to the second cylinder 115, the second cylinder 2 123, and the second cylinder 3 126 are adsorbed with the corresponding transmission shaft 109, the transmission shaft 2 127, and the transmission shaft 3 128, thereby realizing the switching of the control circuit.

[0038] The present invention is not limited to the above-mentioned specific embodiments. Various modifications made by technicians in the relevant technical field based on the above-mentioned conception without creative work are all within the scope of protection of the present invention.

Claims

1. An active heave compensation dual-redundant control system, comprising a base (101) and a fiber optic gyroscope (105), characterized in that: The base (101) is provided with an adjustment component 1, an adjustment component 2, an adjustment component 3, and a control component. The adjustment component 1 includes a positioning circular seat (103), a first cylinder 1 (106), and a second cylinder 1 (115). A transmission shaft 1 (109) is fixedly installed on the positioning circular seat (103). A transmission unit 1 is provided between the transmission shaft 1 (109) and the first cylinder 1 (106) and the second cylinder 1 (115). The adjustment component 2 includes a first cylinder 2 (122), a second cylinder 2 (123), and a positioning rotating seat (124). A transmission shaft 2 (127) is fixedly installed at both ends of the positioning rotating seat (124). The first cylinder 2 (122) A transmission unit 2 is provided between the second cylinder 2 (123) and the corresponding transmission shaft 2 (127); an adjustment component 3 includes a trestle plate (107), a first cylinder 3 (125), and a second cylinder 3 (126); a positioning circular plate (120) is fixedly mounted on the trestle plate (107); a transmission shaft 3 (128) is fixedly mounted on the positioning circular plate (120); a transmission unit 3 is provided between the transmission shaft 3 (128) and the first cylinder 3 (125) and the second cylinder 3 (126); a control component includes a controller 1 (130) and a controller 2 (131); the controller 1 (130) and the controller 2 (131) are used to receive and output signals; The transmission unit 1, transmission unit 2, and transmission unit 3 all include a positioning rotating plate (113), a positioning short shaft (114), a dividing plate (116), and a cylindrical electromagnet (117). The positioning rotating plate (113) is fixedly connected to the corresponding positioning short shaft (114). The end of the dividing plate (116) contacts the corresponding positioning short shaft (114). The cylindrical electromagnet (117) is fixedly installed on the inner side of the positioning short shaft (114). The cylindrical electromagnet (117) is movably connected to the corresponding transmission shaft 1 (109), transmission shaft 2 (127), and transmission shaft 3 (128). The transmission shaft 1 (109) is aligned with the axes of the corresponding first cylinder 1 (106), the positioning short shaft (114), the second cylinder 1 (115), and the cylindrical electromagnet (117); the transmission shaft 2 (127) is aligned with the axes of the corresponding positioning short shaft (114), the cylindrical electromagnet (117), the first cylinder 2 (122), and the second cylinder 2 (123); and the transmission shaft 3 (128) is aligned with the axes of the corresponding positioning short shaft (114), the cylindrical electromagnet (117), the first cylinder 3 (125), and the second cylinder 3 (126); The dividing plate (116) is in contact with the corresponding first cylinder one (106), second cylinder one (115), first cylinder two (122), second cylinder two (123), first cylinder three (125), and second cylinder three (126), respectively. Under the action of the adjusting short shaft (114), the adjusting rotating plate (113), and the dividing plate (116), the interiors of the first cylinder one (106), second cylinder one (115), first cylinder two (122), second cylinder two (123), first cylinder three (125), and second cylinder three (126) are divided into a liquid inlet chamber (118) and a liquid outlet chamber (119).

2. The active heave compensation dual-redundant control system according to claim 1, characterized in that: The fiber optic gyroscope (105) is used to collect the roll, pitch, heave and heading information of the ship. A support ring plate (102) is fixedly mounted on the base (101), and the position adjustment round seat (103) is rotatably mounted on the support ring plate (102).

3. The active heave compensation dual-redundant control system according to claim 2, characterized in that: The positioning rotating seat (124) is rotatably mounted on the positioning circular seat (103), a supporting circular plate (121) is fixedly mounted on the positioning rotating seat (124), the positioning circular plate (120) is rotatably mounted on the supporting circular plate (121), a transmission shaft three (128) is rotatably connected to the supporting circular plate (121) and the positioning rotating seat (124), and the axes of the positioning circular plate (120), the supporting circular plate (121) and the transmission shaft three (128) are on the same straight line.

4. The active heave compensation dual-redundant control system according to claim 3, characterized in that: The first cylinder 1 (106) and the second cylinder 1 (115) are fixedly mounted on the base (101), the first cylinder 2 (122) and the second cylinder 2 (123) are fixedly mounted on the adjustment round seat (103), and the first cylinder 3 (125) and the second cylinder 3 (126) are fixedly mounted on the adjustment rotating seat (124).

5. The active heave compensation dual-redundant control system according to claim 4, characterized in that: A liquid outlet pipe (110) and a liquid inlet pipe (112) are fixedly provided on the first cylinder 1 (106), the second cylinder 1 (115), the first cylinder 2 (122), the second cylinder 2 (123), the first cylinder 3 (125), and the second cylinder 3 (126); two hydraulic pumps (111) are fixedly installed on the base (101), the adjustment round seat (103), and the adjustment rotating seat (124); the hydraulic pumps (111) are fixedly connected to the corresponding liquid inlet pipes (112).

6. The active heave compensation dual-redundant control system according to claim 5, characterized in that: The control assembly further includes a hydraulic control module 1 (104) and a hydraulic control module 2 (129). The hydraulic control module 1 (104), the hydraulic control module 2 (129), the controller 1 (130), and the controller 2 (131) are all fixedly mounted on the base (101). The controller 1 (130) is used to transmit signals to the hydraulic control module 1 (104). The controller 2 (131) is used to transmit signals to the hydraulic control module 2 (129). The hydraulic control module 1 (104) is used to control the hydraulic pump (111) and the cylindrical electromagnet (117) corresponding to the first cylinder 1 (106), the first cylinder 2 (122), and the first cylinder 3 (125). The hydraulic control module 2 (129) is used to control the hydraulic pump (111) and the cylindrical electromagnet (117) corresponding to the second cylinder 1 (115), the second cylinder 2 (123), and the second cylinder 3 (126).

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